Method and device for controlling floating body wind turbine power generating apparatus, and floating body wind turbine power generating apparatus

ABSTRACT

A method of controlling a floating-body wind turbine power generating apparatus including a wind turbine generator disposed on a floating body includes a pitch-angle increasing step of increasing a pitch angle of a blade of the wind turbine generator when the wind turbine generator is stopped, so that an aerodynamic braking force is applied to a rotor of the wind turbine generator. In the pitch-angle increasing step, a first change rate of the pitch angle of the blade in a first period during which the wind turbine generator is in an inclining motion toward an upwind side from a vertical direction due to sway of the floating body, is smaller than a second change rate of the pitch angle of the blade in a second period during which the wind turbine generator is in an inclining motion toward a downwind side from the vertical direction due to the sway of the floating body.

RELATED APPLICATIONS

The present application is a division of U.S. patent application Ser.No. 14/655,335 filed on Jun. 25, 2015, which is a National Phase ofInternational Application Number PCT/JP2012/083832 filed Dec. 27, 2012.The contents of all of the above-listed prior applications areincorporated by reference herein in their entireties.

TECHNICAL FIELD

The present disclosure relates to a method and device for controlling afloating-body wind turbine power generating apparatus including a windturbine generator disposed on a floating body, and a floating-body windturbine power generating apparatus.

BACKGROUND

Wind turbine power generating apparatuses have become increasinglypopular in recent years in view of preservation of the globalenvironment. In a typical wind turbine power generating apparatus, pitchangles of blades are variable, and a pitch control is performed inaccordance with the operation state of the wind turbine power generatingapparatus.

For instance, although not related to a floating-body wind turbine powergenerating apparatus, Patent Documents 1 to 3 disclose a pitch-controlmethod whereby a load applied to a wind turbine power generatingapparatus is reduced. Further, Non-patent Document 1 discloses a methodof controlling the pitch of each blade individually so as to reduce anultimate load of a wind turbine power generating apparatus uponoccurrence of gust or shutdown of the system (p. 126-127).

CITATION LIST Patent Literature

-   Patent Document 1: U.S. Pat. No. 8,215,896-   Patent Document 2: U.S. Pat. No. 8,240,990-   Patent Document 3: Japanese Unexamined Patent Application (PCT    Translation) Publication No. 2009-523208

Non-Patent Literature

-   Non-patent Document 1: E. Bossanyi, B. Savini, M. Iribas, M. Hau, B.    Fischer, D. Schlipf, T. van Engelen, M. Rossetti and C. E. Carcangiu    “Advanced controller reserch for multi-MW wind turbines in the    UPWIND project”, Wind Energ. 2012; 15:119-145

SUMMARY Technical Problem

Meanwhile, in a floating-body wind turbine power generating apparatus,there is a close mutual relationship between sway of a floating body andan aerodynamic load of a thrust component (a thrust force) received by arotor.

That is, a thrust force received by the rotor from wind is affected bysway of a floating body, because a wind turbine generator (rotor) movesback and forth due to the sway of the floating body. For instance, whilethe floating-body wind turbine power generating apparatus inclinestoward the upwind side due to sway of the floating body, a relative windvelocity with respect to the rotor is a sum of an actual wind velocityand a moving velocity of the wind turbine generator (rotor) movingtoward the upwind side, so the thrust force received by the rotor fromwind is relatively large. On the other hand, while the wind turbinepower generating apparatus inclines toward the downwind side due to swayof the floating body, a relative wind velocity with respect to the rotoris a remainder of an actual wind velocity subtracted by a movingvelocity of the wind turbine generator (rotor) toward the downwind side,so the thrust force received by the rotor from wind is relatively small.

Conversely, it is clear that the thrust force received by the rotor fromwind affects the sway of the floating body, because the swayingmechanism of the floating body can be basically described by a motionequation based on a restoring force due to inertia of the floating-bodywind turbine power generating apparatus and buoyance acting on thefloating body, and an aerodynamic thrust force acting on the rotor.Thus, when a thrust force received by the rotor from wind is varied bythe pitch control, the change also affects the sway of the floatingbody. For instance, if an aerodynamic braking force is applied to therotor by the pitch control while the wind turbine power generatingapparatus inclines toward the upwind side, the aerodynamic thrust forcereceived by the rotor rapidly decreases, which thereby promotesinclination of the wind turbine power generating apparatus toward theupwind side. On the other hand, if an aerodynamic load of a torquecomponent received by the rotor is to be increased by the pitch controlwhile the wind turbine power generating apparatus inclines toward thedownwind side, the aerodynamic thrust force received by the rotor alsoincreases, which also promotes inclination of the wind turbine.

In this regard, while Patent Documents 1 to 3 and Non-patent. Document 1disclose methods of reducing a thrust force by the pitch control toprevent an excessive load from being applied to a wind turbine powergenerating apparatus, such methods are applied to onshore wind turbinepower generating apparatuses and bottom-mounted offshore wind turbinepower generating apparatuses. Thus, the above methods do not disclosesuitable pitch control taking account of the relationship between swayof a floating body and an aerodynamic thrust force received by a rotor.

An object of at least one embodiment of the present invention is toprovide a method and device for controlling a wind turbine powergenerating apparatus capable of performing pitch control taking accountof a relationship between sway of a floating body and an aerodynamicthrust force received by a rotor when a wind turbine generator isstopped or started, and a floating-body wind turbine power generatingapparatus.

Solution to Problem

A method of controlling a floating-body wind turbine power generatingapparatus according to at least one embodiment of the present inventionis for a floating-body wind turbine power generating apparatus includinga wind turbine generator disposed on a floating body. The methodincludes a pitch-angle increasing step of increasing a pitch angle of ablade of the wind turbine generator when the wind turbine generator isstopped, so that an aerodynamic braking force is applied to a rotor ofthe wind turbine generator. In the pitch-angle increasing step, a firstchange rate of the pitch angle of the blade in a first period duringwhich the wind turbine generator is in an inclining motion toward anupwind side from a vertical direction due to sway of the floating body,is smaller than a second change rate of the pitch angle of the blade ina second period during which the wind turbine generator is in aninclining motion toward a downwind side from the vertical direction dueto the sway of the floating body.

When the wind turbine generator is stopped, in the first period, duringwhich the wind turbine generator is in an inclining motion toward theupwind side from the vertical direction, the thrust force received bythe rotor from wind is a factor that reduces the acceleration of thewind turbine generator inclining toward the upwind side, and functionsadvantageously in restriction of sway of the floating body. Thus, whenthe wind turbine generator is stopped by increasing the pitch angle ofthe blade and applying an aerodynamic braking force to the rotor of thewind turbine generator, a rapid increase in the pitch angle of the bladeduring the first period means a decrease in the factor for reducing theacceleration of the wind turbine generator toward the upwind side, whichmay possibly amplify the sway of the floating body. On the other hand,in the second period, during which the wind turbine generator is in aninclining motion toward the downwind side from the vertical direction,the thrust force received by the rotor from wind is a factor thatincreases the acceleration of the wind turbine generator toward thedownwind side, and functions disadvantageously in restriction of sway ofthe floating body. Thus, when the wind turbine generator is stopped byincreasing the pitch angle of the blade and applying an aerodynamicbraking force to the rotor of the wind turbine generator, a rapidincrease in the pitch angle of the blade during the second period meansa decrease in the factor for increasing the acceleration of the windturbine generator toward the downwind side, which may possiblycontribute to restriction of the sway of the floating body.

According to the above method of controlling a floating-body windturbine power generating apparatus, in view of the above relationshipbetween sway of the floating body and the aerodynamic thrust forcereceived by the rotor, the pitch angle change rates (increasing speed)are varied between the first period and the second period, between whichthe attitude and the inclination motion direction of the wind turbinegenerator due to sway of the floating body are different. Specifically,with the first change rate (increasing speed) of the pitch angle in thefirst period being smaller than the second change rate (increasingspeed) of the pitch angle in the second period, it is possible torestrict a decrease in the aerodynamic thrust force in the first period,which functions advantageously in restriction of the sway of thefloating body, as well as to promote a decrease in the aerodynamicthrust force of the second period, which functions disadvantageously inrestriction of the sway of the floating body. Thus, it is possible tostop the wind turbine generator while restricting sway of the floatingbody.

In some embodiments, in the pitch-angle increasing step, a change rateof the pitch angle of the blade in a total period during which the windturbine generator is in the inclining motion toward the upwind side, issmaller than a change rate of the pitch angle of the blade in a totalperiod during which the wind turbine generator is in the incliningmotion toward the downwind side.

In the total period during which the wind turbine generator is in aninclining motion toward the upwind side, the thrust force received bythe rotor front wind contributes to restriction of the inclining motionof the wind turbine generator toward the upwind side associated with thesway of the floating body. On the other hand, in the total period duringwhich the wind turbine generator is in an inclining motion toward thedownwind side, the thrust force received by the rotor from wind promotesthe inclining motion of the wind turbine generator toward the downwindside associated with the sway of the floating body. In view of this,when the wind turbine generator is stopped by the pitch control, if thedirection of the inclining motion of the wind turbine generator is takeninto account and the change rate (increasing speed) of the pitch angleis reduced in the total period during which the wind turbine generatoris in an inclining motion toward the upwind side as compared to that inthe total period during which the wind turbine generator is in aninclining motion toward the downwind side, it is possible to stop thewind turbine generator while effectively restricting sway of thefloating body. In other words, it is possible to restrict a decrease inthe aerodynamic thrust force, which functions advantageously inrestriction of the inclining motion (the sway of the floating body), inthe total period during which the wind turbine generator is in aninclining motion toward the upwind side, as well as to promote adecrease in the aerodynamic thrust force, which functionsdisadvantageously in restriction of the inclining motion (the sway ofthe floating body) in the total period during which the wind turbinegenerator is in an inclining motion toward the downwind side.

In some embodiments, in the pitch-angle increasing step, the change rateof the pitch angle of the blade in a total period during which the windturbine generator has an inclined attitude toward the upwind side, issmaller than the change rate of the pitch angle of the blade in a totalperiod during which the wind turbine generator has an inclined attitudetoward the downwind side.

In the floating-body wind turbine power generating apparatus, it isdesirable to maintain the attitude of the wind turbine generator to beas vertical as possible (hereinafter, referred to as “verticalattitude”). In this regard, when the wind turbine generator is stoppedby the pitch control, it is possible to promote a motion of the windturbine generator for returning to the vertical attitude, if theattitude of the wind turbine generator 1 is taken into account and thechange rate (increasing speed) of the pitch angle is reduced in thetotal period during which the wind turbine generator is in an inclinedattitude toward the upwind side as compared to that in the total periodduring which the wind turbine generator is in an inclined attitudetoward the downwind side. That is, it is possible to restrict a decreasein the aerodynamic thrust force that promotes the motion of the windturbine generator for returning to the vertical attitude in the totalperiod during which the wind turbine generator is in the inclinedattitude toward the upwind side, as well as to promote a decrease in theaerodynamic thrust force that interrupts the motion the wind turbinegenerator for returning to the vertical attitude in the total periodduring which the wind turbine generator is in the inclined attitudetoward the downwind side.

In some embodiments, in the pitch-angle increasing step, the change rateof the pitch angle is monotonically increased from the first change rateto the second change rate upon transition from the first period to thesecond period, and the change rate of the pitch angle is monotonicallydecreased from the second change rate to the first change rate upontransition from the second period to the first period.

As described above, upon transition from the first period to the secondperiod, the pitch angle change rate is monotonically increased from thefirst change rate to the second change rate, and upon transition fromthe second period to the first period, the pitch angle change rate ismonotonically decreased from the second change rate to the first changerate, which makes it possible to smoothly stop the wind turbinegenerator by the pitch control.

In some embodiments, the method further includes a pitch-angledecreasing step of decreasing the pitch angle of the blade when the windturbine generator is started, so that a lift applied to the blade of thewind turbine generator increases. In the pitch-angle decreasing step, athird change rate of the pitch angle of the blade in a third periodduring which the wind turbine generator is in the inclining motiontoward the upwind side from the vertical direction due to the sway ofthe floating body, is larger than a fourth change rate of the pitchangle of the blade in a fourth period during which the wind turbinegenerator is in the inclining motion toward the downwind side from thevertical direction due to the sway of the floating body.

When the wind turbine generator is started, in the third period, duringwhich the wind turbine generator is in an inclining motion toward theupwind side from the vertical direction, the thrust force received bythe rotor from wind is a factor that reduces the acceleration of thewind turbine generator toward the upwind side, and functionsadvantageously in restriction of sway of the floating body, similarly tothe above first period. Thus, when the wind turbine generator is startedby decreasing the pitch angle of the blade and increasing a lift appliedto the blade, a rapid decrease in the pitch angle of the blade duringthe third period means an increase in the factor for reducing theacceleration of the wind turbine generator toward the upwind side, whichmay possibly contribute to restriction of the sway of the floating body.On the other hand, in the fourth period, during which the wind turbinegenerator is in an inclining motion toward the downwind side from thevertical direction, the thrust force received by the rotor from wind isa factor that increases the acceleration of the wind turbine generatortoward the downwind side, and functions disadvantageously in restrictionof sway of the floating body, similarly to the above second period.Thus, when the wind turbine generator is started by decreasing the pitchangle of the blade and increasing a lift applied to the blade, a rapiddecrease in the pitch angle of the blade during the fourth period meansan increase in the factor for increasing the acceleration of the windturbine generator toward the downwind side, which may amplify the swayof the floating body.

Thus, in the above method of controlling a floating-body wind turbinegenerating apparatus, with the third change rate (decreasing speed) ofthe pitch angle in the third period being larger than the fourth changerate (decreasing speed) of the pitch angle in the fourth period, it ispossible to promote an increase in the aerodynamic thrust force of thethird period, which functions advantageously in restriction of the swayof the floating body, as well as to restrict an increase in theaerodynamic thrust force of the fourth period, which functionsdisadvantageously in restriction of the sway of the floating body. Thus,it is possible to start the wind turbine generator while restrictingsway of the floating body.

In some embodiments, in the pitch-angle decreasing step, a change rateof the pitch angle of the blade in the total period during which thewind turbine generator is in the inclining motion toward the upwindside, is larger than a change rate of the pitch angle of the blade inthe total period during which the wind turbine generator is in theinclining motion toward the downwind side.

When the wind turbine generator is started by the pitch control, if thedirection of the inclining motion of the wind turbine generator is takeninto account and the change rate (decreasing speed) of the pitch angleis increased in the total period during which the wind turbine generatoris in an inclining motion toward the upwind side as compared to that inthe total period during which the wind turbine generator is in aninclining motion toward the downwind side, it is possible to start thewind turbine generator while effectively restricting sway of thefloating body. Specifically, it is possible to promote an increase inthe aerodynamic thrust force, which functions advantageously inrestriction of the inclining motion (the sway the floating body) in thetotal period during which the wind turbine generator is in an incliningmotion toward the upwind side, as well as to restrict an increase in theaerodynamic thrust force, which functions disadvantageously inrestriction of the inclining motion (the sway of the floating body) inthe total period during which the wind turbine generator is in aninclining motion toward the downwind side.

In some embodiments, in the pitch-angle decreasing step, the change rateof the pitch angle of the blade in the total period during which thewind turbine generator has the inclined attitude toward the upwind side,is larger than the change rate of the pitch angle of the blade in thetotal period during which the wind turbine generator has the inclinedattitude toward the downwind side.

When the wind turbine generator is started by the pitch control, it ispossible to promote a motion of the wind turbine generator for returningto the vertical attitude, if the attitude of the wind turbine generatoris taken into account and the change rate (decreasing speed) of thepitch angle is increased in the total period during which the windturbine generator is in an inclined attitude toward the upwind side ascompared to that in the total period during which the wind turbinegenerator is in an inclined attitude toward the downwind side. That is,it is possible to promote an increase in the aerodynamic thrust forcethat promotes the motion of the wind turbine generator for returning tothe vertical attitude in the total period during which the wind turbinegenerator is in the inclined attitude toward the upwind side, as well asto restrict an increase in the aerodynamic thrust force that interruptsthe motion of the wind turbine generator for returning to the verticalattitude in the total period during which the wind turbine generator isin the inclined attitude toward the downwind side.

In some embodiments, in the pitch-angle decreasing step, the change rateof the pitch angle is monotonically decreased from the third change rateto the fourth change rate upon transition from the third period to thefourth period, and the change rate of the pitch angle is monotonicallyincreased from the fourth change rate to the third change rate upontransition from the fourth period to the third period.

As described above, upon transition from the third period to the fourthperiod, the pitch angle change rate is monotonically decreased from thethird change rate to the fourth change rate. Also, upon transition fromthe fourth period to the third period, the pitch angle change rate ismonotonically increased from the fourth change rate to the third changerate, which makes it possible to smoothly start the wind turbinegenerator by the pitch control while restricting sway of the floatingbody.

A method of controlling a floating-body wind turbine power generatingapparatus according to at least one embodiment of the present inventionis for a floating-body wind turbine power generating apparatus includinga wind turbine generator disposed on a floating body. The methodincludes a pitch-angle decreasing step of decreasing a pitch angle of ablade of the wind turbine generator when the wind turbine generator isstarted, so that a lift applied to the blade of the wind turbinegenerator increases. In the pitch-angle decreasing step, a third changerate of the pitch angle of the blade in a third period during which thewind turbine generator is in an inclining motion toward an upwind sidefrom a vertical direction due to sway of the floating body, is largerthan a fourth change rate of the pitch angle of the blade in a fourthperiod during which the wind turbine generator is in an inclining motiontoward a downwind side from the vertical direction due to the sway ofthe floating body.

In the above method of controlling a floating-body wind turbinegenerating apparatus, when the wind turbine generator is started, thethird change rate (decreasing speed) of the pitch angle in the thirdperiod, during which the wind turbine generator is in an incliningmotion toward the upwind side from the vertical direction, is largerthan the fourth change rate (decreasing speed) of the pitch angle in thefourth period, during which the wind turbine generator is in aninclining motion toward the downwind side from the vertical direction.In this way, it is possible to promote an increase in the aerodynamicthrust force of the third period, which functions advantageously inrestriction of the sway of the floating body, as well as to restrict anincrease in the aerodynamic thrust force of the fourth period, whichfunctions disadvantageously in restriction of the sway of the floatingbody. Thus, it is possible to start the wind turbine generator whilerestricting sway of the floating body.

A floating-body wind turbine power generating apparatus according to atleast one embodiment of the present invention includes: a floating body;a wind turbine generator disposed on the floating body, the wind turbinegenerator including a rotor in which a blade is mounted to a hub, and apitch adjustment mechanism for adjusting a pitch angle of the blade; anda pitch control part for controlling the pitch adjustment mechanism sothat an aerodynamic braking force is applied to the rotor by an increasein the pitch angle when the wind turbine generator is stopped. The pitchcontrol part is configured to control a first change rate of the pitchangle of the blade in a first period during which the wind turbinegenerator is in an inclining motion toward an upwind side from avertical direction due to sway of the floating body to be smaller than asecond change rate of the pitch angle of the blade in a second periodduring which the wind turbine generator is in an inclining motion towarda downwind side from the vertical direction due to the sway of thefloating body.

According to the above floating-body wind turbine power generatingapparatus, when the wind turbine generator is stopped, the first changerate (increasing speed) of the pitch angle in the first period issmaller than the second change rate (increasing speed) of the pitchangle in the second period. In this way, it is possible to restrict adecrease in the aerodynamic thrust force of the first period, whichfunctions advantageously in restriction of the sway of the floatingbody, as well as to promote a decrease in the aerodynamic thrust forceof the second period, which functions disadvantageously in restrictionof the sway of the floating body. Thus, it is possible to stop the windturbine generator while restricting sway of the floating body.

A floating-body wind turbine power generating apparatus according to atleast one embodiment of the present invention includes: a floating body;a wind turbine generator disposed on the floating body, the wind turbinegenerator including a rotor in which a blade is mounted to a hub, and apitch adjustment mechanism for adjusting a pitch angle of the blade; anda pitch control part for controlling the pitch adjustment mechanism sothat a lift applied to the blade is increased by a decrease in the pitchangle when the wind turbine generator is started. The pitch control partis configured to control a third change rate of the pitch angle of theblade in a third period during which the wind turbine generator is in aninclining motion toward an upwind side from a vertical direction due tosway of the floating body to be larger than a fourth change rate of thepitch angle of the blade in a fourth period during which the windturbine generator is in an inclining motion toward a downwind side fromthe vertical direction due to the sway of the floating body.

According to the above floating-body wind turbine power generatingapparatus, when the wind turbine generator is started, the third changerate (decreasing speed) of the pitch angle in the third period, duringwhich the wind turbine generator is in an inclining motion toward theupwind side from the vertical direction, is larger than the fourthchange rate (decreasing speed) of the pitch angle in the fourth period,during which the wind turbine generator is in an inclining motion towardthe downwind side from the vertical direction. In this way, it ispossible to promote an increase in the aerodynamic thrust force of thethird period, which functions advantageously in restriction of the swayof the floating body, as well as to restrict an increase in theaerodynamic thrust force of the fourth period, which functionsdisadvantageously in restriction of the sway of the floating body. Thus,it is possible to start the wind turbine generator while restrictingsway of the floating body.

A control device for a floating-body wind turbine power generatingapparatus according to at least one embodiment of the present inventionis for a floating-body wind turbine power generating apparatus includinga wind turbine generator disposed on a floating body. The wind turbinegenerator includes a rotor in which a blade is mounted to a hub and apitch adjustment mechanism for adjusting a pitch angle of the blade. Thecontrol device includes a pitch control part for controlling the pitchadjustment mechanism so that an aerodynamic braking force is applied tothe rotor by an increase in the pitch angle when the wind turbinegenerator is stopped. The pitch control part is configured to control afirst change rate of the pitch angle of the blade in a first periodduring which the wind turbine generator is in an inclining motion towardan upwind side from a vertical direction due to sway of the floatingbody to be smaller than a second change rate of the pitch angle of theblade in a second period during which the wind turbine generator is inan inclining motion toward a downwind side from the vertical directiondue to the sway of the floating body.

According to the above control device for a floating-body wind turbinepower generating apparatus, when the wind turbine generator is stopped,the first change rate (increasing speed) of the pitch angle in the firstperiod is smaller than the second change rate (increasing speed) of thepitch angle in the second period. In this way, it is possible torestrict a decrease in the aerodynamic thrust force of the first period,which functions advantageously in restriction of the sway of thefloating body, as well as to promote a decrease in the aerodynamicthrust force of the second period, which functions disadvantageously inrestriction of the sway of the floating body. Thus, it is possible tostop the wind turbine generator while restricting sway of the floatingbody.

A control device for a floating-body wind turbine power generatingapparatus according to at least one embodiment of the present inventionis for a floating-body wind turbine power generating apparatus includinga wind turbine generator disposed on a floating body. The wind turbinegenerator includes a rotor in which a blade is mounted to a hub and apitch adjustment mechanism for adjusting a pitch angle of the blade. Thecontrol device includes a pitch control part for controlling the pitchadjustment mechanism so that a lift applied to the blade is increased bya decrease in the pitch angle when the wind turbine generator isstarted. The pitch control part is configured to control a third changerate of the pitch angle of the blade in a third period during which thewind turbine generator is in an inclining motion toward an upwind sidefrom a vertical direction due to sway of the floating body to be largerthan a fourth change rate of the pitch angle of the blade in a fourthperiod during which the wind turbine generator is in an inclining motiontoward a downwind side from the vertical direction due to the sway ofthe floating body.

According to the above control device for a floating-body wind turbinepower generating apparatus, when the wind turbine generator is started,the third change rate (decreasing speed) of the pitch angle in the thirdperiod is larger than the fourth change rate (decreasing speed) of thepitch angle in the fourth period. In this way, it is possible to promotean increase in the aerodynamic thrust force of the third period, whichfunctions advantageously in restriction of the sway of the floatingbody, as well as to restrict an increase in the aerodynamic thrust forceof the fourth period, which functions disadvantageously in restrictionof the sway of the floating body. Thus, it is possible to start the windturbine generator while restricting way of the floating body.

Advantageous Effects

According to at least one embodiment of the present invention, when thewind turbine generator is stopped, it is possible to restrict a decreasein the aerodynamic thrust force of the first period, which functionsadvantageously in restriction of the sway of the floating body, as wellas to promote a decrease in the aerodynamic thrust force of the secondperiod, which functions disadvantageously in restriction of the sway ofthe floating body. Thus, it is possible to stop the wind turbinegenerator while restricting sway of the floating body.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram of an overall configuration of a floating-body windturbine power generating apparatus according to an embodiment of thepresent invention.

FIG. 2 is a cross-sectional view of a blade for describing a pitchangle.

FIGS. 3A to 3C are diagrams for describing a pitch control upon stoppageof a wind turbine generator according to an embodiment of the presentembodiment, illustrating a temporal change of the pitch angle, atemporal change of an inclination angle change rate of the wind turbinegenerator, and a motion of the wind turbine generator, respectively.

FIGS. 4A and 4B are diagrams for describing a pitch control uponstoppage of a wind turbine generator according to an embodiment of thepresent embodiment, illustrating a pitch angle change rate and a motionof the wind turbine generator, respectively.

FIG. 5 is a flowchart for describing a pitch control when a wind turbinegenerator is stopped according to an embodiment of the presentembodiment.

FIGS. 6A to 6C are diagrams for describing a pitch control upon stoppageof a wind turbine generator according to another embodiment of thepresent embodiment, illustrating a temporal change of the pitch angle, atemporal change of the inclination angle change rate of the wind turbinegenerator, and a motion of the wind turbine generator, respectively.

FIGS. 7A to 7C are diagrams for describing a pitch control upon stoppageof a wind turbine generator according to another embodiment of thepresent embodiment, illustrating a pitch angle change rate of the windturbine generator, a motion of the wind turbine generator, and avariation example of a pitch angle change rate of the wind turbinegenerator, respectively.

FIG. 8 is a flowchart for describing a pitch control upon stoppage of awind turbine generator according to another embodiment of the presentembodiment.

FIGS. 9A to 9C are diagrams for describing a pitch control upon start ofa wind turbine generator according to an embodiment of the presentembodiment, illustrating a temporal change of the pitch angle, atemporal change of the inclination angle change rate of the wind turbinegenerator, and a motion of the wind turbine generator, respectively.

FIGS. 10A and 10B are diagrams for describing a pitch control upon startof a wind turbine generator according to an embodiment of the presentembodiment, illustrating a pitch angle change rate of the wind turbinegenerator and a motion of the wind turbine generator, respectively.

FIG. 11 is a flowchart for describing a pitch control upon start of awind turbine generator according to an embodiment of the presentembodiment.

FIGS. 12A to 12C are diagrams for describing a pitch control upon startof a wind turbine generator according to another embodiment of thepresent embodiment, illustrating a temporal change of the pitch angle, atemporal change of the inclination angle change rate of the wind turbinegenerator, and a motion of the wind turbine generator, respectively.

FIGS. 13A and 13B are diagrams for describing a pitch control upon startof a wind turbine generator according to an embodiment of the presentembodiment, illustrating a pitch angle change rate of the wind turbinegenerator and a motion of the wind turbine generator, respectively.

FIG. 14 is a flowchart for describing a pitch control upon start of awind turbine generator according to another embodiment of the presentembodiment.

DETAILED DESCRIPTION

Embodiments of the present invention will now be described in detailwith reference to the accompanying drawings. It is intended, however,that unless particularly specified, dimensions, materials, shapes,relative positions and the like of components described in theembodiments shall be interpreted as illustrative only and not limitativeof the scope of the present invention.

FIG. 1 is a diagram of an overall configuration of a wind turbine powergenerating apparatus according to one embodiment.

As illustrated in FIG. 1, in one embodiment, a floating-body windturbine power generating apparatus 100 includes a wind turbine generator1, a floating body 10 on which the wind turbine generator 1 is built,and a control device 20 for controlling the wind turbine generator 1.

The wind turbine generator 1 includes a rotor 4 including at least oneblade 2 and a hub 3, a nacelle 5 rotatably supporting the rotor 4, and atower 6 supporting the nacelle 5. The hub 3 may be covered by a hubcover 3 a.

The rotor 4 may be coupled to a generator via a drivetrain (notillustrated). The drivetrain may include a main shaft coupled to the hub3 and a speed increasing unit a hydraulic transmission or a gearbox) forincreasing rotational speed of the main shaft and inputting the rotationto a generator. Alternatively, a generator may be directly connected tothe hub 3 of the rotor 4. The blade 2 receives wind and the rotor 4rotates so that electric power is generated in the generator.

Further, the floating-body wind turbine power generating apparatus 100may include various sensors such as an acceleration sensor 25 and anattitude detection sensor 26 mounted to the hub 3, the nacelle 5, or anupper part of the tower 6.

The nacelle 5 may be capable of yaw rotating with respect to the tower6. In one embodiment, the wind turbine generator 1 is an upwind windturbine configured such that the nacelle 5 yaw rotates so that the blade2 is oriented toward the upwind side in accordance with the winddirection during normal operation.

The floating body 10 has buoyance, and floats on the water. Forinstance, the floating body 10 is connected to an anchor by a mooringline to be moored on a predetermined position on the water. The tower 6is disposed on the floating body 10. Although the drawings illustrate asimplified floating body, various floating bodies can be employed, suchas a semi-sub type and a spar type.

The control device 20 includes a pitch adjustment mechanism 21 foradjusting a pitch angle of the blade 2, and a pitch control part 22 forcontrolling the pitch adjustment mechanism 21. The control device 20receives signals inputted from the various sensors such as theacceleration sensor 25 and the attitude detection sensor 26. A pitchcontrol may be performed on the blade 2 on the basis of inclinationmotion information or attitude information of the wind turbine generator1 obtained from the above signals.

The pitch adjustment mechanism 21 may be disposed in the hub 3 and foreach of the at least one blade 2. For instance, in a case where threeblades 2 are provided, three pitch adjustment mechanisms 21 areprovided. Each pitch adjustment mechanism 21 may individually adjust thepitch angle of the corresponding blade 2, or adjust the pitch angles ofthe entire blades 2 in cooperation.

The pitch control part 22 controls the pitch adjustment mechanism 21 sothat an aerodynamic braking force is applied to the rotor 4 due to anincrease in the pitch angle upon stoppage of the wind turbine generator.Further, the pitch control part 22 controls the pitch angle of the blade2 to decrease so that a lift applied to the blade 2 increases, uponstart of the wind turbine generator.

Here, the pitch angle of the blade 2 will be described with reference toFIG. 3.

As illustrated in FIG. 3, each blade 2 has an airfoil in which apressure surface 203 and a suction surface 204 extend from a leadingedge 201 to a trailing edge 202. A straight line 205 connecting theleading edge 201 and the trailing edge 202 is referred to as a chord.

Each blade 2 is oriented so that the chord 205 forms an angle “a” fromthe rotational direction of the rotor, by the pitch adjustment mechanism21 operating under control of the pitch control part 22. This angle “a”is an angle between the extended line L₁ of the chord 205 and thestraight line L₂ parallel to the rotational direction of the blade (therotational plane of the rotor), indicating the pitch angle of the blade2. The pitch angle “a” of each blade 2 during normal operation of thewind turbine generator 1 is approximately zero degree, and this pitchangle is sometimes referred to as a fine position. On the other hand,the pitch angle “a” of each blade 2 during complete stoppage of the windturbine generator 1 is approximately 90 degrees (the maximum angle), andthis pitch angle is sometimes referred to as a feather position. Whenthe pitch angle “a” of each blade 2 is increased from a fine position(approximately 0 degree) to the feather position (approximately 90degrees), an aerodynamic braking force is applied to the rotor 4, sothat the rotational speed of the rotor 4 decreases. On the other hand,when the pitch angle “a” of each blade 2 is reduced from the featherposition (approximately 90 degrees) to the fine position (approximatelyzero degree), a lift applied to each blade 2 increases, so that therotational speed of the rotor 4 rises.

Meanwhile, in a case of an onshore wind turbine power generatingapparatus or a bottom-mounted offshore wind turbine power generatingapparatus, a rotor of a wind turbine generator moves back and forth to acertain extent in accordance with vibration of a tower. The cycle of thevibration of the tower in this case is short enough as compared to thetime the influence of the change in the pitch angle due to rotation ofthe blade by the pitch adjustment mechanism requires to substantiallyappear as a change in the thrust force. Thus, even if a thrust forcereceived by the rotor from wind is varied by the pitch control, theinfluence is barely recognizable in the vibration of the tower.

In contrast, in a typical floating-body wind turbine power generatingapparatus, the sway cycle of a floating body is approximately 10seconds. Thus, before the attitude of the wind turbine generator 1varies between the maximum inclined state to the downwind side and themaximum inclined state to the upwind side, the influence of varying thepitch angle by rotating the blade 2 with the pitch adjustment mechanism21 can substantially appear as a change in the thrust force. Thus, if athrust force received by the rotor 4 from wind is varied by the pitchcontrol, sway of the floating body 10 would be also affected.

In view of this, in some embodiments, the pitch control is performedupon stoppage and start of the wind turbine generator 1 taking accountof the above relationship between the sway of the floating body 10 andthe aerodynamic thrust force received by the rotor 4.

Described below in detail is the pitch control for the blade 2 performedby the pitch control part 22 upon stoppage and start of the wind turbinegenerator 1 illustrated in FIG. 1.

(Pitch Control Upon Stoppage of the Wind Turbine Generator)

FIGS. 3A to 3C are diagrams for describing a pitch control upon stoppageof a wind turbine generator according to an embodiment of the presentembodiment, illustrating a temporal change of the pitch angle, atemporal change of an inclination angle change rate of the wind turbinegenerator, and a motion of the wind turbine generator, respectively.FIGS. 4A and 4B are diagrams for describing a pitch control uponstoppage of a wind turbine generator according to an embodiment of thepresent embodiment, illustrating a pitch angle change rate of the windturbine generator and a motion of the wind turbine generator,respectively. FIG. 5 is a flowchart for describing a pitch control uponstoppage of a wind turbine generator according to an embodiment of thepresent embodiment. Here, reference signs for the components in thefollowing description are identical to those of the floating-body windturbine power generating apparatus 100 illustrated in FIG. 1.

With reference to FIGS. 3A to 4B, a motion of the wind turbine generator1 caused by sway of the floating body 10 will be described.

As illustrated in FIGS. 3C and 4B, sway of the floating body 10 inclinesthe wind turbine generator 1 back and forth (toward the upwind side andthe downwind side). The back-and-forth inclination motion of the windturbine generator 1 is repeated, but only one section (one cycle)corresponding to one back-and-forth inclination motion of the repeatedmotion is extracted and illustrated in FIGS. 3A to 4B. That is, thedrawings illustrate: time t₁ when the wind turbi generator 1 is in thevertical direction (hereinafter, referred to as the vertical attitude);time t₂ when the wind turbine generator 1 is in the foremost inclinedattitude as a result of the inclining motion to die upwind side; time t₃when the wind turbine generator 1 returns to the vertical attitude dueto the inclining motion toward the downwind side; time L₁ when the windturbine generator 1 is in the rearmost inclined attitude as a result ofthe inclining motion to the downwind side; and time t₂, when the windturbine generator 1 returns to the vertical attitude as a result of theinclining motion toward the upwind side.

FIG. 3B illustrates a temporal change of the inclination angle changerate of the wind turbine generator 1 corresponding to the aboveinclining motion.

In FIG. 3B, the inclination angle change rate (inclination velocity)toward the upwind side of the wind turbine generator 1 is indicated asnegative, and the inclination angle change rate (inclination velocity)toward the downwind side is indicated as positive. The inclination anglechange rate of the wind turbine generator 1 reaches its minimum at timet₁, when the wind turbine generator 1 is inclining from the downwindside toward the upwind side and in the vertical attitude, and becomeszero at time t₂, when the wind turbine generator 1 is in the foremostinclined attitude. Further, the inclination angle change rate reaches itmaximum at time t₃, when the wind turbine generator 1 is inclining fromthe forward inclined attitude to the downwind side and in the verticalattitude, and becomes zero at time t₄ when the wind turbine generator 1is in the rearmost inclined attitude.

Next, the pitch control of the blade 2 corresponding to the aboveoperation of the wind turbine generator 1 will be described.

FIG. 3A illustrates a temporal change of the pitch angle of the blade 2of the wind turbine generator 1. Once a stop command is inputted to thepitch control part 22, the pitch control part 22 controls the pitchadjustment mechanism 21 to increase the pitch angle of the blade 2, sothat an aerodynamic braking force is applied to the rotor 4. That is,the pitch angle is set at the fine position side during normal operationso that a lift is applied to the blade 2, and thus the pitch angle isshifted from the fine position side to the feather position side whenthe blade 2 is stopped. As illustrated in FIG. 1, a thrust force F_(s)and a torque F_(t) corresponding to the pitch angle are applied to therotor 4 due to the actual wind velocity and the wind velocity caused bysway of the floating body 10.

In one embodiment, the pitch control part 22 calculates a command valueof the pitch angle change rate (pitch rate) of the blade 2 and providesthe command value to the pitch adjustment mechanism 21 until the pitchangle of the blade 2 reaches a target pitch angle (e.g. maximum angle),when the pitch angle of the blade 2 is increased. FIG. 4A illustratespitch angle change rate curves, each of which is time-series data of acommand value given to the pitch adjustment mechanism 21. In thedrawing, four types of pitch angle change rate curves 31 to 34 areillustrated. The pitch angle change rate curve 31 indicated by a solidline corresponds to the pitch angle of FIG. 3A.

Here, in the first period, during which the wind turbine generator 1 isin an inclining motion toward the upwind side from the verticaldirection, i.e., the period from time t₁ to time t₂, the thrust forcereceived by the rotor 4 from wind is a factor that reduces theacceleration of the wind turbine generator 1 toward the upwind side, andfunctions advantageously in restriction of sway of the floating body 10.Thus, when the wind turbine generator 1 is stopped by increasing thepitch angle of the blade 2 and applying an aerodynamic braking force tothe rotor 4 of the wind turbine generator 1, a rapid increase in thepitch angle of the blade 2 during the first period means a decrease inthe factor for reducing the acceleration of the wind turbine generator 1toward the upwind side, which may possibly amplify the sway of thefloating body 10. On the other hand, in the second period, during whichthe wind turbine generator 1 is in an inclining motion toward thedownwind side from the vertical direction, the thrust force received bythe rotor 4 from wind is a factor that increases the acceleration of thewind turbine generator 1 toward the downwind side, and functionsdisadvantageously in restriction of sway of the floating body 10. Thus,when the wind turbine generator 1 is stopped by increasing the pitchangle of the blade 2 and applying an aerodynamic braking force to therotor 4 of the wind turbine generator 1, a rapid increase in the pitchangle of the blade 2 during the second period means a decrease in thefactor for increasing the acceleration of the wind turbine generator 1toward the downwind side, which may possibly contribute to restrictionof the sway of the floating body.

Accordingly, in some embodiments, the following pitch control isperformed in view of the above relationship between sway of the floatingbody 10 and the aerodynamic thrust force received by the rotor 4.

Specifically, the pitch control part 22 increases the pitch angle of theblade 2 so that the first change rate (increasing speed) of the pitchangle of the blade 2 in the first period, during which the wind turbinegenerator 1 is in an inclining motion toward the upwind side from thevertical direction, is smaller than the second change rate (increasingspeed) of the pitch angle of the blade 2 in the second period, duringwhich the wind turbine generator 1 is in an inclining motion toward thedownwind side from the vertical direction. In the example illustrated inFIGS. 3A and 4A, the pitch angle is changed in accordance with the pitchangle change rate curve 31. That is, the pitch angle change rate is setto zero in the first period from time t₁ to time t₂ so as to keep thepitch angle constant, and the pitch angle change rate is set to a valuegreater than zero in the second period from time t₃ to time t₄ so as toincrease the pitch angle at a constant rate.

As described above, with the first change rate (increasing speed) of thepitch angle in the first period being smaller than the second changerate (increasing speed) of the pitch angle in the second period, it ispossible to restrict a decrease in the aerodynamic thrust force of thefirst period, which functions advantageously in restriction of the swayof the floating body, as well as to promote a decrease in theaerodynamic thrust force in the second period, which functionsdisadvantageously in restriction of the sway of the floating body. Thus,it is possible to stop the wind turbine generator 1 while restrictingsway of the floating body.

In one embodiment, as illustrated in FIGS. 3A and 4A, the pitch controlpart 22 may control the pitch adjustment mechanism 21 to increase thepitch angle of the blade 2 so that the change rate of the pitch angle ofthe blade 2 in the total period (period A) during which the wind turbinegenerator 1 is in an inclining motion toward the upwind side, is smallerthan the change rate of the pitch angle of the blade 2 in the totalperiod (period B) during which the wind turbine generator 1 is in aninclining motion toward the downwind side. In the exemplary embodimentillustrated in FIGS. 3A and 4A, the pitch angle is changed in accordancewith the pitch angle change rate curve 31, That is, the pitch anglechange rate is set to zero in the period A from time t₁ to time t₂ andtime t₄ to time t₅, and the pitch angle change rate is set to a valuegreater than zero in the period B from time t₂ to time t₄.

In the total period (period A) during which the wind turbine generator 1is in an inclining motion toward the upwind side, the thrust forcereceived by the rotor 4 from wind contributes to restriction of theinclining motion of the wind turbine generator 1 toward the upwind sideassociated with the sway of the floating body 10. On the other hand, inthe total period (period B) during which the wind turbine generator 1 isin an inclining motion toward the downwind side, the thrust forcereceived by the rotor 4 from wind promotes the inclining motion of thewind turbine generator 1 toward the downwind side associated with thesway of the floating body 10. In view of this, when the wind turbinegenerator is stopped by the pitch control, if the direction of theinclining motion of the wind turbine generator 1 is taken into accountand the change rate (increasing speed) of the pitch angle is reduced inthe total period (period A) during which the wind turbine generator 1 isin an inclining motion toward the upwind side as compared to that in thetotal period (period B) during which the wind turbine generator 1 is inan inclining motion toward the downwind side, it is possible to stop thewind turbine generator 1 while effectively restricting sway of thefloating body. In other words, it is possible to restrict a decrease inthe aerodynamic thrust force, which functions advantageously inrestriction of the inclining motion (the sway of the floating body) inthe total period (period A) during which the wind turbine generator 1 isin an inclining motion toward the upwind side, as well as to promote adecrease in the aerodynamic thrust force, which functionsdisadvantageously in restriction of the inclining motion (the sway ofthe floating body) in the total period (period B) during which the windturbine generator 1 is in an inclining motion toward the downwind side.

In some embodiments, at time t₂, when the wind turbine generator 1 isinclined to the foremost position, and at time t₄, when the wind turbinegenerator 1 is inclined to the rearmost position, the pitch angle changerate is varied in a stepped pattern between the pitch angle change rateV_(A) of the period A and the pitch angle change rate V_(B) (>V_(A)) ofthe period B.

In one embodiment, in accordance with the pitch angle change rate curve31 illustrated in FIG. 4A, the pitch angle change rate is varied in astepped pattern between the pitch angle change rate V_(A) (=0) of theperiod A and the pitch angle change rate V_(B) (>0) of the period B. Inanother embodiment, accordance with the pitch angle change rate curve 32in FIG. 4A, the pitch angle change rate is varied in a stepped patternbetween the pitch angle change rate V_(A) of the period A, which isgreater than zero, and the pitch angle change rate V_(B) (>V_(A)) of theperiod B.

In yet another embodiment, in accordance with the pitch angle changerate curves 33, 34 in FIG. 4A, at least one of the pitch angle changerate V_(A) of the period A including the first period or the pitch anglechange rate V_(B) of the period B including the second period may be seton the basis of an optional function F(t). That is, the pitch anglechange rate V_(A) or the pitch angle change rate V_(B) may be variedcontinuously with time.

In some embodiments, upon transition from the first period to the secondperiod, the pitch angle change rate is monotonically increased from thefirst change rate to the second change rate. Also, upon transition fromthe second period to the first period, the pitch angle change rate ismonotonically decreased from the second change rate to the first changerate.

As described above, upon transition from the first period to the secondperiod, the pitch angle change rate is monotonically increased from thefirst change rate to the second change rate, and upon transition fromthe second period to the first period, the pitch angle change rate ismonotonically decreased from the second change rate to the first changerate, which makes it possible to smoothly stop the wind turbinegenerator 1 by the pitch control.

In this case, specifically, the pitch angle change rate may be increasedor decreased in a stepped pattern as indicated by the above pitch anglechange rate curves 31, 32. Alternatively, the pitch angle change ratemay be increased or decreased gradually between the first period and thesecond period as indicated by the pitch angle change rate curves 33, 34.

In a case where the pitch angle change rate is increased or decreased ina stepped pattern, the pitch angle change rate may be increased in astepped pattern at time t₂, when the wind turbine generator 1 is in theforemost inclined attitude, and the pitch angle change rate may bedecreased in a stepper pattern at time t₄, when the wind turbinegenerator 1 is inclined to the rearmost inclined attitude, in accordancewith the pitch angle change rate curves 31, 32. It is desirable torestrict a decrease in the thrust force so as to restrict the incliningmotion of the wind turbine generator 1 to the front (upwind side)immediately before time t₂, when the wind turbine generator 1 is in theforemost inclined attitude, and to promote a decrease in the thrustforce against the rotor 4 so as to reduce the inclining motion of thewind turbine generator 1 toward the rear (downwind side) immediatelyafter time t₂. On the other hand, it is desirable to promote a decreasein the thrust force so as to reduce the inclining motion toward the rear(downwind side) of the wind turbine generator 1 immediately before timet₄, when the wind turbine generator 1 is in the rearmost inclinedattitude, and to restrict a decrease in the thrust force against therotor 4 so as to restrict the inclining motion of the wind turbinegenerator 1 to the front (upwind side) immediately after time t₄. Thatis, at time t₂, when the wind turbine generator 1 is in the foremostinclined attitude and at time t₄, when the wind turbine generator 1 isin the rearmost inclined attitude, demands for the thrust force beforeand after the time are totally opposite to each other. Thus, changingthe pitch angle change rate at time t₂ and time t₄ in a stepped patternmakes it possible to smoothly stop the wind turbine generator 1 whilerestricting sway of the floating body 10 more effectively.

In a case where the pitch angle change rate is gradually increased ordecreased, as indicated by the pitch angle change rate curve 33, thepitch angle change rate may be increased linearly from time when thewind turbine generator 1 is in the vertical attitude, to time t₃, whenthe wind turbine generator 1 has inclined toward the front (upwind side)to return to the vertical attitude, and may be decreased linearly fromtime t₃ to time t₅, when the wind turbine generator 1 has inclined tothe rear (downwind side) to return to the vertical attitude.Alternatively, as indicated by the pitch angle change rate curve 34, thepitch angle change rate may be increased in a curve from time t₁, whenthe wind turbine generator 1 is in the vertical attitude, to time t₃,when the wind turbine generator 1 has inclined toward the front (upwindside) to return to the vertical attitude, and may be decreased in acurve from time t₃ to time t₅, when the wind turbine generator 1 hasinclined to the rear (downwind side) to return to the vertical attitude.

Now, with reference to FIG. 5, the pitch control upon stoppage of thewind turbine generator 1 will be described. Here, described below is acase where the pitch control is performed on the blade 2 so that thepitch angle change rate of the blade 2 in the period A is smaller thanthe pitch angle change rate of the blade 2 in the period B, asillustrated in FIG. 3A to 4B.

As illustrated in FIG. 5, if a stop command is given to the pitchcontrol part 22 of the wind turbine generator 1 (S11), inclining motioninformation of the wind turbine generator 1 is obtained (S12). Here, theinclining motion information may be an inclination angle change rate oran inclining direction of the wind turbine generator 1. Further, theinclination angle change rate or the inclining direction may be obtainedfrom various sensors such as the acceleration sensor 25 and the attitudedetection sensor.

Next, on the basis of the inclination motion information, it isdetermined whether a period corresponding to the current motion of thewind turbine generator 1 matches the period A in which the wind turbinegenerator 1 is inclining toward the upwind side (S13). If the periodcorresponding to the current motion of the wind turbine generator 1 isthe period A, the pitch angle change rate V_(A) is set (S14). If theperiod corresponding to the current motion of the wind turbine generator1 is not the period A, the period is determined to be the period B, andthe pitch angle change rate V_(B) is set (S15). At this time, the pitchangle change rate V_(A) is smaller than the pitch angle change rateV_(B). Then, the pitch angle change rate V_(A) or the pitch angle changerate V_(B) having been set is inputted to the pitch adjustment mechanism21 as a command value, and the pitch adjustment mechanism 21 increasesthe pitch angle of the blade 2 (S16). A target pitch angle (e.g. themaximum angle) is set for the pitch control part 22 in advance, and thepitch control part 22 determines whether the pitch angle of the blade 2has reached the target pitch angle (S17). If the target pitch angle isreached, the pitch control is completed.

Next, with reference to FIGS. 6A to 8, a pitch control upon stoppage ofturbine generator according to another embodiment will be described.

FIGS. 6A to 6C are diagrams for describing a pitch control upon stoppageof a wind turbine generator according to another embodiment of thepresent embodiment, illustrating a temporal change of the pitch angle, atemporal change of an inclination angle of the wind turbine generator,and a motion of the wind turbine generator, respectively. FIGS. 7A to 7Care diagrams for describing a pitch control upon stoppage of a windturbine generator according to another embodiment of the presentembodiment, illustrating a pitch angle change rate curve of the windturbine generator, a motion of the wind turbine generator, and avariation example of a pitch angle change rate of the wind turbinegenerator, respectively. FIG. 8 is a flowchart for describing a pitchcontrol upon stoppage of a wind turbine generator according to anotherembodiment of the present embodiment. Here, the time (t₁ to t₅) and thefirst and second periods illustrated in FIGS. 6A to 7C correspond tothose in the above described FIGS. 3A to 4B,

As illustrated in FIG. 6B, the inclination angle of the wind turbinegenerator 1 caused by sway of the floating body 10 transitions asdescribed below. That is, the inclination angle of the wind turbinegenerator 1 becomes zero at time t₁, when the wind turbine generator 1is in an inclining motion from the downwind side toward the upwind sideand in the vertical attitude, and reaches its minimum at time t₂, whenthe wind turbine generator 1 is in the foremost inclined attitude.Further, the inclination angle becomes zero at time t₃, when the windturbine generator 1 is in an inclining motion from the upwind sidetoward the downwind side and in the vertical attitude, and reaches itsmaximum at time t₄, when the wind turbine generator 1 is in the rearmostinclined attitude.

In FIG. 6B, the inclination angle toward the upwind side of the windturbine generator 1 is indicated as negative, and the inclination towardthe downwind side as positive.

In one embodiment, the pitch control pant 22 calculates a command valueof the pitch angle change rate (pitch rate) of the blade 2 and providesthe command value to the pitch adjustment mechanism 21 until the pitchangle of the blade 2 reaches a target pitch angle (e.g. maximum angle),when the pitch angle of the blade 2 is increased. FIG. 7A illustratespitch angle change rate curves, each of which is time-series data of acommand value given to the pitch adjustment mechanism 21. In thedrawing, four patterns of pitch angle change rate curves 35 to 38 areillustrated. The pitch angle change rate curve 35 indicated by a solidline corresponds to the pitch angle of FIG. 6A.

In one embodiment, as illustrated in FIGS. 6A and 7A, the pitch controlpart 22 may control the pitch adjustment mechanism 21 to increase thepitch angle of the blade 2 so that the change rate of the pitch angle ofthe blade 2 in the total period during which the wind turbine generator1 is in an inclined attitude toward the upwind side is smaller than thechange rate of the pitch angle of the blade 2 in the total period duringwhich the wind turbine generator 1 is in an inclined attitude toward thedownwind side. That is, the pitch angle change rate is set to zero inthe period C from time t₁ to time t₃ in accordance with the pitch anglechange rate curve 35 so as to keep the pitch angle constant, and thepitch angle change rate is set to a value greater than zero in theperiod D from time t₃ to time k in accordance with the pitch anglechange rate curve 35, so as to increase the pitch angle at a constantrate.

In the floating-body wind turbine power generating apparatus 100, it isdesirable to maintain the attitude of the wind turbine generator 1 to beas vertical as possible. In this regard, when the wind turbine generatoris stopped by the pitch control, it is possible to promote a motion ofthe wind turbine generator 1 for returning to the vertical attitude, ifthe attitude of the wind turbine generator 1 is taken into account andthe change rate (increasing speed) of the pitch angle is reduced in thetotal period during which the wind turbine generator 1 is in an inclinedattitude toward the upwind side as compared to that in the total periodduring which the wind turbine generator 1 is in an inclined attitudetoward the downwind side. That is, it is possible to restrict a decreasein the aerodynamic thrust force that promotes the motion of the windturbine generator 1 for returning to the vertical attitude in the totalperiod during which the wind turbine generator 1 is in the inclinedattitude toward the upwind side, as well as to promote a decrease in theaerodynamic thrust force that interrupts the motion of the wind turbinegenerator 1 for returning to the vertical attitude in the total periodduring which the wind turbine generator 1 is in the inclined attitudetoward the downwind side.

Further, in an example of the above embodiment, the pitch angle changerate in the period C is set to zero to maintain the pitch angle to beconstant, and the pitch angle change rate in the period D is set to avalue larger than zero to increase the pitch angle at a constant rate.However, as indicated by the pitch angle change rate curve 36 in FIG.7A, the pitch angle change rate in the period C may be larger than zeroand smaller than the pitch angle change rate in the period D.Alternatively, as indicated by the pitch angle change rate curves 37,38, at least one of the pitch angle change rates in the period C or theperiod D may be varied with time.

Further, as illustrated in FIG. 7A, upon transition from the firstperiod to the second period, the pitch angle change rate may bemonotonically increased from the first change rate to the second changerate. Also, upon transition from the second period to the first period,the pitch angle change rate may be monotonically decreased from thesecond change rate to the first change rate.

In this case, specifically, the pitch angle change rate may be increasedor decreased in a stepped pattern as indicated by the above pitch anglechange rate curves 35, 36. Alternatively, the pitch angle change ratemay be increased or decreased gradually between the first period and thesecond period as indicated by the pitch angle change rate curves 37, 38.

In a case where the pitch angle change rate is increased or decreased ina stepped pattern, the pitch angle change rate may be decreased in astepped pattern at time when the wind turbine generator 1 is in thevertical attitude immediately before inclining forward (to the upwindside), and the pitch angle change rate may be increased in a stepperpattern at time t₃, when the wind turbine generator 1 has inclined tothe front to return to the vertical attitude, in accordance with thepitch angle change rate curves 35, 36.

In a case where the pitch angle change rate is gradually increased ordecreased, as indicated by the pitch angle change rate curve 37, thepitch angle change rate may be increased linearly from time when thewind turbine generator 1 is in the foremost inclined attitude to timet₄, when the wind turbine generator 1 has inclined to the rear (downwindside) to take the rearmost inclined attitude, and may be decreasedlinearly from time t₄ to the time when the wind turbine generator 1 hasinclined to the front to take the foremost inclined attitude.

Alternatively, as indicated by the pitch angle change rate curve 38, thepitch angle change rate may be increased in a curve from time t₂, whenthe wind turbine generator 1 is in the foremost inclined attitude totime t₄, when the wind turbine generator 1 has inclined to the rear(downwind side) to take the rearmost inclined attitude, and may bedecreased in a curve from time t₄ to the time when the wind turbinegenerator 1 has inclined to the front (upwind side) to take the foremostinclined attitude.

Further, as illustrated in the variation of FIG. 7C, the pitch controlof the blade 2 may be performed in accordance with the pitch anglechange rate curves 35′, 37′, 38′, which are offset from the pitch anglechange rate curves 35, 37, 38 in FIG. 7A toward the upstream side withrespect to time. At this time, the amount by which each of the pitchangle change rate curves 35, 37, 38 is offset is not particularlylimited as long as it is within a range where the pitch angle changerate in the first period is smaller than the pitch angle change rate inthe second period.

Next, with reference to FIG. 8, the pitch control upon stoppage of thewind turbine generator 1 will be described. Here, described below is acase where the pitch of the blade 2 is controlled so that the pitchangle change rate of the blade 2 in the period C is smaller than thepitch angle change rate of the blade 2 in the period D, as illustratedin FIGS. 6A to 7C.

As illustrated in FIG. 8, once a stop command is given to the pitchcontrol part 22 of the wind turbine generator 1 (S21), attitudeinformation of the wind turbine generator 1 is obtained (S22). Here, theattitude information may be an inclination angle of the wind turbinegenerator 1. Further, the inclination angle may be obtained from varioussensors such as the acceleration sensor 25 and the attitude detectionsensor.

Next, on the basis of the attitude information, it is determined whethera period corresponding to the current motion of the wind turbinegenerator 1 matches the period C in which the wind turbine generator 1is in the inclined attitude toward the upwind side (S23). If the periodcorresponding to the current attitude of the wind turbine generator 1 isthe period C, the pitch angle change rate V_(C) is set (S24). If theperiod corresponding to the current motion of the wind turbine generator1 is not the period C, the period is determined to be the period D, andthe pitch angle change rate V_(D) is set (S25). At this time, the pitchangle change rate V_(C) is smaller than the pitch angle change rateV_(D). Then, the pitch angle change rate V_(C) or the pitch angle changerate V_(D) having been set is inputted to the pitch adjustment mechanism21 as a command value, and the pitch adjustment mechanism 21 increasesthe pitch angle of the blade 2 (S26). A target pitch angle (e.g. themaximum angle) is set for the pitch control part 22 in advance, and thepitch control part 22 determines whether the pitch angle of the blade 2has reached the target pitch angle (S27). If the target pitch angle isreached, the pitch control is completed.

As described above, according to the above embodiment, when the windturbine generator 1 is stopped, it is possible to restrict a decrease inthe aerodynamic thrust force of the first period, which functionsadvantageously in restriction of the sway of the floating body, as wellas to promote a decrease in the aerodynamic thrust force of the secondperiod, which functions disadvantageously in restriction of the sway ofthe floating body. Thus, it is possible to stop the wind turbinegenerator 1 while restricting sway of the floating body.

(Pitch Control Upon Start of a Wind Turbine Generator)

FIGS. 9A to 9C are diagrams for describing a pitch control upon start ofa wind turbine generator according to an embodiment of the presentembodiment, illustrating a temporal change of the pitch angle, atemporal change of the inclination angle change rate of the wind turbinegenerator, and a motion of the wind turbine generator, respectively.FIGS. 10A and 10B are diagrams for describing a pitch control upon startof a wind turbine generator according to an embodiment of the presentembodiment, illustrating a pitch angle change rate of the wind turbinegenerator and a motion of the wind turbine generator, respectively. FIG.11 is a flowchart for describing a pitch control upon start of a windturbine generator 1 according to an embodiment of the presentembodiment.

FIG. 9A illustrates a temporal change of the pitch angle of the blade 2of the wind turbine generator 1. Once a start command is inputted to thepitch control part 22, the pitch control part 22 controls the pitchadjustment mechanism 21 to decrease the pitch angle of the blade 2, sothat a lift applied to the blade 2 increases. That is, since the pitchangle is set at the feather position side during shutdown so that a liftis not applied to the blade 2, the pitch angle is shifted from thefeather position side to the fine position side when the blade 2 isstarted.

In one embodiment, the pitch control part 22 calculates a command valueof the pitch angle change rate (pitch rate) of the blade 2 and providesthe command value to the pitch adjustment mechanism 21 until the pitchangle of the blade 2 reaches a target pitch angle (e.g. zero degree),when the pitch angle of the blade 2 is decreased. FIG. 10A illustratespitch angle change rate curves, each of which is time-series data of acommand value given to the pitch adjustment mechanism 21. In thedrawing, four types of pitch angle change rate curves 41 to 44 areillustrated. The pitch angle change rate curve 41 indicated by a solidline corresponds to the pitch angle of FIG. 9A.

Here, in the third period, during which the wind turbine generator 1 isin an inclining motion toward the upwind side from the verticaldirection, the thrust force received by the rotor 4 from wind is afactor that reduces the acceleration of the wind turbine generator 1toward the upwind side, and functions advantageously in restriction ofsway of the floating body 10. Thus, when the wind turbine generator 1 isstarted by decreasing the pitch angle of the blade 2 and increasing alift applied to the blade 2, a rapid decrease in the pitch angle of theblade 2 during the third period means an increase in the factor forreducing the acceleration of the wind turbine generator 1 toward theupwind side, which may possibly contribute to restriction of the sway ofthe floating body 10. On the other hand, in the fourth period, duringwhich the wind turbine generator 1 is in an inclining motion toward thedownwind side from the vertical direction, the thrust force received bythe rotor 4 from wind is a factor that increases the acceleration of thewind turbine generator 1 toward the downwind side, and functionsdisadvantageously in restriction of sway of the floating body 10. Thus,when the wind turbine generator 1 is started by decreasing the pitchangle of the blade 2 and increasing a lift applied to the blade 2, arapid decrease in the pitch angle of the blade 2 during the fourthperiod means an increase in the factor for increasing the accelerationof the wind turbine generator 1 toward the downwind side, which mayamplify the sway of the floating body 10.

Accordingly, in some embodiments, the following pitch control isperformed in view of the above relationship between sway of the floatingbody 10 and the aerodynamic thrust force received by the rotor 4.

Specifically, the pitch control part 22 decreases the pitch angle of theblade 2 so that the third change rate (decreasing speed) of the pitchangle of the blade 2 in the third period, during which the wind turbinegenerator 1 is in an inclining motion toward the upwind side from thevertical direction, is larger than the fourth change rate (decreasingspeed) of the pitch angle of the blade 2 in the fourth period, duringwhich the wind turbine generator 1 is in an inclining motion toward thedownwind side from the vertical direction. In the example illustrated inFIGS. 9A and 10A, the pitch angle is changed in accordance with thepitch angle change rate curve 41. That is, the pitch angle change rateis set to a value larger than zero in the third period from time t₁ totime t₂ so as to increase the pitch angle at a constant rate, and thepitch angle change rate is set to zero in the fourth period from time t₃to time t₄ so as to keep the pitch angle constant.

As described above, with the third change rate (decreasing speed) of thepitch angle in the third period being larger than the fourth change rate(decreasing speed) of the pitch angle in the fourth period, it ispossible to promote an increase in the aerodynamic thrust force of thethird period, which functions advantageously in restriction of the swayof the floating body, as well as to restrict an increase in theaerodynamic thrust force of the fourth period, which functionsdisadvantageously in restriction of the sway of the floating body. Thus,it is possible to start, the wind turbine generator while restrictingsway of the floating body.

In one embodiment, as illustrated in FIGS. 9A and 10A, the pitch controlpart 22 may control the pitch adjustment mechanism 21 to decrease thepitch angle of the blade 2 so that the change rate of the pitch angle ofthe blade 2 in the total period (period E) during which the wind turbinegenerator 1 is in an inclining motion toward the upwind side, is largerthan the change rate of the pitch angle of the blade 2 in the totalperiod (period F) during which the wind turbine generator 1 is in aninclining motion toward the downwind side. In the example illustrated inFIGS. 9A and 10A, the pitch angle is changed in accordance with thepitch angle change rate curve 41. That is, the pitch angle change rateis set to a value greater than zero in the period E from time t₁ to timet₂ and time t₄ to t₅, and the pitch angle change rate is set to zero inthe period F from time t₂ to time t₄.

In the total period (period E) during which the wind turbine generator 1is in an inclining motion toward the upwind side, the thrust forcereceived by the rotor 4 from wind contributes to restriction of theinclining motion of the wind turbine generator 1 toward the upwind sideassociated with the sway of the floating body 10. On the other hand, inthe total period (period F) during which the wind turbine generator 1 isin an inclining motion toward the downwind side, the thrust forcereceived by the rotor 4 from wind promotes the inclining motion of thewind turbine generator 1 toward the downwind side associated with thesway of the floating body 10. In view of this, when the wind turbinegenerator 1 is started by the pitch control, if the direction of theinclining motion of the wind turbine generator 1 is taken into accountand the change rate (decreasing speed) of the pitch angle is increasedin the total period (period E) during which the wind turbine generator 1is in an inclining motion toward the upwind side as compared to that inthe total period (period F) during which the wind turbine generator 1 isin an inclining motion toward the downwind side, it is possible to startthe wind turbine generator 1 while effectively restricting sway of thefloating body. In other words, it is possible to promote an increase inthe aerodynamic thrust force, which functions advantageously inrestriction of the inclining motion (the sway of the floating body) inthe total period (period E) during which the wind turbine generator 1 isin an inclining motion toward the upwind side, as well as to restrict anincrease in the aerodynamic thrust force, which functionsdisadvantageously in restriction of the inclining motion (the sway ofthe floating body) in the total period (period F) during which the windturbine generator 1 is in an inclining motion toward the downwind side.

In some embodiments, at time t₂, when the wind turbine generator 1 isinclined to the foremost attitude, and at time t₄, when the wind turbinegenerator 1 is inclined to the rearmost attitude, the pitch angle changerate is varied in a stepped pattern between the pitch angle change rateV_(E) of the period E and the pitch angle change rate V_(E) (<V_(E)) ofthe period F.

In one embodiment, in accordance with the pitch angle change rate curve41 illustrated in FIG. 10A, the pitch angle change rate is varied in astepped pattern between the pitch angle change rate V_(E) (>0) of theperiod E and the pitch angle change rate V_(E) (=0) of the period F. Inanother embodiment, in accordance with the pitch angle change rate curve42 in FIG. 10A, the pitch angle change rate is varied in a steppedpattern between the pitch angle change rate V_(E) of the period E andthe pitch angle change rate V_(E) (<V_(E)) of the period F, which isgreater than zero.

In yet another embodiment, in accordance with the pitch angle changerate curves 43, 44 in FIG. 4A, at least one of the pitch angle changerate V_(E) of the period E including the third period or the pitch anglechange rate V_(F) of the period F including the fourth period may be seton the basis of an optional function F(t). That is, the pitch anglechange rate V_(E) or the pitch angle change rate V_(F) may be variedcontinuously with time.

In some embodiments, upon transition from the third period to the fourthperiod, the pitch angle change rate is monotonically decreased from thethird change rate to the fourth change rate. Also, upon transition fromthe fourth period to the third period, the pitch angle change rate ismonotonically increased from the fourth change rate to the third changerate.

As described above, upon transition from the third period to the fourthperiod, the pitch angle change rate is monotonically decreased from thethird change rate to the fourth change rate. Also, upon transition fromthe fourth period to the third period, the pitch angle change rate ismonotonically increased from the fourth change rate to the third changerate, which makes it possible to smoothly start the wind turbinegenerator 1 by the pitch control.

In this case, specifically, the pitch angle change rate may be increasedor decreased in a stepped pattern as indicated by above the pitch anglechange rate curves 41, 42. Alternatively, the pitch angle change ratemay be increased or decreased gradually between the third period and thefourth period as indicated by the pitch angle change rate curves 43, 44.

In a case where the pitch angle change rate is increased or decreased ina stepped pattern, the pitch angle change rate may be decreased in astepped pattern at time t₂, when the wind turbine generator 1 is in theforemost inclined attitude, and the pitch angle change rate may beincreased in a stepped pattern at time t₄, when the wind turbinegenerator 1 is in the rearmost inclined attitude, in accordance with thepitch angle change rate curves 41, 42. It is desirable to promote anincrease in the thrust force so as to restrict the inclining motion ofthe wind turbine generator 1 to the front (upwind side) immediatelybefore time t₂, when the wind turbine generator 1 is in the foremostinclined attitude, and to restrict an increase in the thrust forceagainst the rotor 4 so as to reduce the inclining motion toward the rear(downwind side) of the wind turbine generator 1 immediately after timet₂. On the other hand, it is desirable to restrict an increase in thethrust force so as to reduce the inclining motion toward the rear(downwind side) of the wind turbine generator 1 immediately before timet₄, when the wind turbine generator 1 is in the rearmost inclinedattitude, and to promote an increase in the thrust force against therotor 4 so as to restrict the inclining motion of the wind turbinegenerator 1 to the front (upwind side) immediately after time t₄. Thatis, for time t₂, when the wind turbine generator 1 is in the foremostinclined attitude and at time t₄, when the wind turbine generator 1 isin the rearmost inclined attitude, demands for the thrust force beforeand after the time are totally opposite to each other. Thus, changingthe pitch angle change rate at time t₂ and time t₄ in a stepped patternmakes it possible to smoothly start the wind turbine generator 1 whilerestricting sway of the floating body 10 more effectively.

In a case where the pitch angle change rate is gradually increased ordecreased, as indicated by the pitch angle change rate curve 43, thepitch angle change rate may be decreased linearly from time t₁, when thewind turbine generator 1 is in the vertical attitude to time t₃, whenthe wind turbine generator 1 has inclined toward the front (upwind side)to return to the vertical attitude, and the pitch angle change rate maybe increased linearly from time t₃ to time t₅, when the wind turbinegenerator 1 has inclined to the rear (downwind side) to return to thevertical attitude. Alternatively, as indicated by the pitch angle changerate curve 44, the pitch angle change rate may be decreased in a curvefrom time t₁, when the wind turbine generator 1 is in the verticalattitude to time t₃, when the wind turbine generator 1 has inclinedtoward the front (upwind side) to return to the vertical attitude, andmay be increased in a curve from time t₃ to time t₅, when the windturbine generator 1 has inclined to the rear (downwind side) to returnto the vertical attitude.

Now, with reference to FIG. 11, the pitch control upon start of the windturbine generator 1 will be described. Here, described below is a casewhere the pitch control of the blade 2 is performed so that the pitchangle change rate of the blade 2 in the period E is larger than thepitch angle change rate of the blade 2 in the period F, as illustratedin FIGS. 9A to 10B.

As illustrated in FIG. 11, if a start command is given to the pitchcontrol part 22 of the wind turbine generator 1 (S31), inclining motioninformation of the wind turbine generator 1 is obtained (S32). Here, theinclining motion information may be an inclination angle change rate oran inclining direction of the wind turbine generator 1. Further, theinclination angle change rate or the inclining direction may be obtainedfrom various sensors such as the acceleration sensor 25 and the attitudedetection sensor.

Next, on the basis of the inclination motion information, it isdetermined whether a period corresponding to the current motion of thewind turbine generator 1 matches the period E in which the wind turbinegenerator 1 is inclining toward the upwind side (S33). If the periodcorresponding to the current motion of the wind turbine generator 1 isthe period E, the pitch angle change rate V_(E) is set (S34). If theperiod corresponding to the current motion of the wind turbine generator1 is not the period E, the period is determined to be the period F, andthe pitch angle change rate V_(F) is set (S35). At this time, the pitchangle change rate V_(E) is smaller than the pitch angle change rateV_(F). Then, the pitch angle change rate V_(E) or the pitch angle changerate V_(F) having been set is inputted to the pitch adjustment mechanism21 as a command value, and the pitch adjustment mechanism 21 decreasesthe pitch angle of the blade 2 (S36). A target pitch angle (e.g. zerodegree) is set for the pitch control part 22 in advance, and the pitchcontrol part 22 determines whether the pitch angle of the blade 2 hasreached the target pitch angle (S37). If the target pitch angle isreached, the pitch control is completed.

Next, with reference to FIGS. 12A to 14, the pitch control upon start ofthe wind turbine generator according to another embodiment will bedescribed.

FIGS. 12A to 12C are diagrams for describing a pitch control upon startof a wind turbine generator according to another embodiment of thepresent embodiment, illustrating a temporal change of the pitch angle, atemporal change of an inclination angle of the wind turbine generator,and a motion of the wind turbine generator, respectively. FIGS. 13A and13B are diagrams for describing a pitch control upon start of a windturbine generator according to an embodiment of the present embodiment,illustrating a pitch angle change rate of the wind turbine generator anda motion of the wind turbine generator, respectively. FIG. 14 is aflowchart for describing a pitch control upon start of a wind turbinegenerator according to another embodiment of the present embodiment.Here, the time (t₁ to t₅) and the third and fourth periods illustratedin FIGS. 12A to 13B correspond to those in the above described FIGS. 9Ato 10B.

In one embodiment, the pitch control part 22 calculates a command valueof the pitch angle change rate (pitch rate) of the blade 2 and providesthe command value to the pitch adjustment mechanism 21 until the pitchangle of the blade 2 reaches a target pitch angle (e.g. zero degree),when the pitch angle of the blade 2 is decreased. FIG. 13A illustratespitch angle change rate curves, each of which is time-series data of acommand value given to the pitch adjustment mechanism 21. In thedrawing, four patterns of pitch angle change rate curves 45 to 48 areillustrated. The pitch angle change rate curve 45 indicated by a solidline corresponds to the pitch angle of FIG. 12A.

In one embodiment, as illustrated in FIGS. 12A and 13A, the pitchcontrol part 22 may control the pitch adjustment mechanism 21 todecrease the pitch angle of the blade 2 so that the change rate of thepitch angle of the blade 2 in the total period during which the windturbine generator 1 is in an inclined attitude toward the upwind side islarger than the change rate of the pitch angle of the blade 2 in thetotal period during which the wind turbine generator 1 is in an inclinedattitude toward the downwind side. That is, the pitch angle change rateis set to a value larger than zero in the period G from time t₁ to timet₃ so as to decrease the pitch angle at a constant rate in accordancewith the pitch angle change rate curve 45, and the pitch angle changerate is set to zero in the period H from time t₃ to time t₅ inaccordance with the pitch angle change rate curve 45, so as to maintainthe pitch angle constant.

In the floating-body wind turbine power generating apparatus 100, it isdesirable to maintain the attitude of the wind turbine generator 1 to beas vertical as possible. In this regard, when the wind turbine generator1 is started by the pitch control, it is possible to promote a motion ofthe wind turbine generator 1 for returning to the vertical attitude, ifthe attitude of the wind turbine generator 1 is taken into account andthe change rate (decreasing speed) of the pitch angle is increased inthe total period during which the wind turbine generator 1 is in aninclined attitude toward the upwind side as compared to that in thetotal period during which the wind turbine generator 1 is in an inclinedattitude toward the downwind side. That is, it is possible to promote anincrease in the aerodynamic thrust force that promotes the motion of thewind turbine generator 1 for returning to the vertical attitude in thetotal period during which the wind turbine generator 1 is in theinclined attitude toward the upwind side, as well as to restrict anincrease in the aerodynamic thrust force that interrupts the motion ofthe wind turbine generator 1 for returning to the vertical attitude inthe total period during which the wind turbine generator 1 is in theinclined attitude toward the downwind side.

Further, in an example of the above embodiment, the pitch angle changerate in the period G is set to a value larger than zero to decrease thepitch angle at a constant rate, and the pitch angle change rate in theperiod H is set to zero to maintain the pitch angle to be constant.However, as indicated by the pitch angle change rate curve 46 in FIG.13A, the pitch angle change rate in the period H may be larger than zeroand smaller than the pitch angle change rate in the period G. Further,as indicated by the pitch angle change rate curves 47, 48, at least oneof the pitch angle change rates in the period C or the period D may bevaried with time.

Further, as illustrated in FIG. 13A, upon transition from the thirdperiod to the fourth period, the pitch angle change rate may bemonotonically decreased from the third change rate to the fourth changerate. Also, upon transition from the fourth period to the third period,the pitch angle change rate may be monotonically increased from thefourth change rate to the third change rate.

In this case, specifically, the pitch angle change rate may be increasedor decreased in a stepped pattern as indicated by the above pitch anglechange rate curves 45, 46 or the pitch angle change rate may beincreased or decreased gradually between the third period and the fourthperiod as indicated by the pitch angle change rate curves 47, 48.

In a case where the pitch angle change rate is increased or decreased ina stepped pattern, the pitch angle change rate may be increased in astepped pattern at time t₁, when the wind turbine generator 1 is in thevertical attitude immediately before inclining forward (to the upwindside), and the pitch angle change rate may be decreased in a stepperpattern at time t₃, when the wind turbine generator 1 has inclinedtoward the front to return to the vertical attitude, in accordance withthe pitch angle change rate curves 45, 46.

In a case where the pitch angle change rate is gradually increased ordecreased, as indicated by the pitch angle change rate curve 47, thepitch angle change rate may be decreased linearly from time t₂ when thewind turbine generator 1 is in the foremost inclined attitude, to timet₄, when the wind turbine generator 1 has inclined toward the rear(downwind side) to take the rearmost inclined attitude, and the pitchangle change rate may be increased linearly from time t₄ to the timewhen the wind turbine generator 1 has inclined toward the front to takethe foremost inclined attitude.

Alternatively, as indicated by the pitch angle change rate curve 48, thepitch angle change rate may be decreased in a curve from time t₂, whenthe wind turbine generator 1 is in the foremost inclined attitude, totime t₄, when the wind turbine generator 1 has inclined to the rear(downwind side) to take the rearmost inclined attitude, and may beincreased in a curve from time t₄ to the time when the wind turbinegenerator 1 has inclined to the front to take the foremost inclinedattitude.

Further, the pitch control of the blade 2 may be performed in accordancewith pitch angle change rate curves offset from the pitch angle changerate curves 45, 46, 47, 48 in FIG. 13A toward the upstream side withrespect to time. At this time, the amount by which each of the pitchangle change rate curves 45, 46, 47, 48 is offset is not particularlylimited as long as it is within a range where the pitch angle changerate in the third period is larger than the pitch angle change rate inthe fourth period.

Next, with reference to FIG. 14, the pitch control upon start of thewind turbine generator 1 will be described. Here, described below is acase where the pitch of the blade 2 is controlled so that the pitchangle change rate of the blade 2 in the period G is larger than thepitch angle change rate of the blade 2 in the period H, as illustratedin FIGS. 12A and 13B.

As illustrated in FIG. 14, once a start command is given to the pitchcontrol part 22 of the wind turbine generator 1 (S41), attitudeinformation of the wind turbine generator 1 is obtained (S42). Here, theattitude information may be an inclination angle of the wind turbinegenerator 1. Further, the inclination angle may be obtained from varioussensors such as the acceleration sensor 25 and the attitude detectionsensor.

Next, on the basis of the attitude information, it is determined whethera period corresponding to the current motion of the wind turbinegenerator 1 matches the period Gin which the wind turbine generator 1 isin the inclined attitude toward the upwind side (S43). If the periodcorresponding to the current attitude of the wind turbine generator 1 isthe period G, the pitch angle change rate V_(G) is set (S44). If theperiod corresponding to the current motion of the wind turbine generator1 is not the period G, the period is determined to be the period H, andthe pitch angle change rate V_(H) is set (S45). At this time, the pitchangle change rate V_(G) is larger than the pitch angle change rateV_(H). Then, the pitch angle change rate V_(G) or the pitch angle changerate V_(R) having been set is inputted to the pitch adjustment mechanism21 as a command value, and the pitch adjustment mechanism 21 decreasesthe pitch angle of the blade 2 (S46). A target pitch angle (e.g. zerodegree) is set for the pitch control part 22 in advance, and the pitchcontrol part 22 determines whether the pitch angle of the blade 2 hasreached the target pitch angle (S47). If the target pitch angle isreached, the pitch control is completed.

As described above, according to the above embodiment, when the windturbine generator 1 is started, it is possible to promote an increase inthe aerodynamic thrust force of the third period, which functionsadvantageously in restriction of the sway of the floating body, as wellas to restrict an increase in the aerodynamic thrust force of the fourthperiod, which functions disadvantageously in restriction of the sway ofthe floating body. Thus, it is possible to start the wind turbinegenerator 1 while restricting sway of the floating body.

Further, in one embodiment, when the wind turbine generator 1 in FIG. 1is stopped or started, the respective pitch angle change rates may bevaried between the plurality of blades 2 until the target pitch angle isachieved, so that a moment acting as a restoration force against thesway of the floating body 10 is obtained. For instance, the pitch anglechange rates are varied in accordance with the respective angularpositions of the blades in the rotor rotational plane. Specifically,when the wind turbine generator 1 is stopped, while the wind turbinegenerator 1 is in a motion of inclining to the front (to the upwindside) from the vertical direction, the pitch angle change rate of one ofthe blades 2 positioned at the upper part of the rotor rotational planeis set to be smaller than the pitch angle change rate of one of theblades 2 positioned at the lower part of the rotor rotational plane. Inthis way, it is to possible to distribute the thrust force differentlyover the rotor rotational plane, which makes it possible to apply amoment for returning the wind turbine generator 1 to the verticalattitude from the forward inclined attitude to the wind turbinegenerator 1. On the other hand, while the wind turbine generator 1 is ina motion of inclining to the rear (to the downwind side) from thevertical direction, the pitch angle change rate of one of the blades 2positioned at the lower part of the rotor rotational plane is set to besmaller than the pitch angle change rate of one of the blades positionedat the upper part of the rotor rotational plane, which makes it possibleto contribute to restriction of the sway of the floating body 10. Whenthe wind turbine generator 1 is started, it is also possible to restrictthe sway of the floating body 10 by controlling the respective pitchangle change rates of the plurality of the blades 2 individually in asuitable manner. Here, in a case where the respective pitch angle changerates are varied between the plurality of blades 2, for instance, therespective pitch angle change rates may be varied by differentiating thephases of the blades 2 on the pitch angle change rate curve in FIG. 4,or the respective pitch adjustment mechanism 21 of the blades 2 may beprovided with different pitch angle change rate curves.

Further, in another embodiment, when the wind turbine generator 1 isstopped, the yaw control for the wind turbine generator 1 may be used incooperation with the above pitch control to assist the deceleration ofthe rotor 4. In this case, the wind turbine generator 1 includes a yawdrive mechanism for rotating the nacelle 5 in the horizontal directionwith respect to the tower 6, and a yaw control part for controlling theyaw driving mechanism. When a stop command for the wind turbinegenerator 1 is inputted, the yaw control part controls the yaw drivemechanism so that the rotor 4 faces the downwind side, at the same timeas the pitch control, or before or after the pitch control. In this way,it is possible to stop the wind turbine generator 1 swiftly.

Embodiments of the present invention were described in detail above, butthe present invention is not limited thereto, and various amendments andmodifications may be implemented within a scope that does not departfrom the present invention.

For instance, while a floating-body wind turbine power generatingapparatus of an upwind type is illustrated in the above embodiment, thepresent invention can be applied to a floating-body wind turbine powergenerating apparatus of a downwind type.

Further, in the described example of the above embodiment, the pitchangle change rate (increasing speed or decreasing speed of the pitchangle) is determined on the basis of the inclination angle or theinclination angle change rate of the wind turbine generator 1 when thewind turbine generator 1 is stopped or started. However, the pitch anglechange rate may be determined on the basis of both of the inclinationangle and the inclination angle change rate of the wind turbinegenerator 1. Further, in addition to the index indicating theinclination of the wind turbine generator 1 such as the inclinationangle and the inclination angle change rate of the wind turbinegenerator 1, the pitch angle change rate (increasing speed or decreasingspeed of the pitch angle) may be determined using other indexes such asa rotation speed of the rotor 4, a current pitch angle, and an elapsedtime after start of the pitch control.

The invention claimed is:
 1. A method of controlling a floating-bodywind turbine power generating apparatus including a wind turbinegenerator disposed on a floating body, the method comprising apitch-angle decreasing step of decreasing a pitch angle of a blade ofthe wind turbine generator when the wind turbine generator is started,so that a lift applied to the blade of the wind turbine generatorincreases, wherein, in the pitch-angle decreasing step, a third changerate of the pitch angle of the blade in a third period during which thewind turbine generator is in an inclining motion toward an upwind sidefrom a vertical direction due to sway of the floating body, is largerthan a fourth change rate of the pitch angle of the blade in a fourthperiod during which the wind turbine generator is in an inclining motiontoward a downwind side from the vertical direction due to the sway ofthe floating body.
 2. The method of controlling a floating-body windturbine power generating apparatus according to claim 1, wherein, in thepitch-angle decreasing step, a change rate of the pitch angle of theblade in a total period during which the wind turbine generator is inthe inclining motion toward the upwind side, is larger than a changerate of the pitch angle of the blade in a total period during which thewind turbine generator is in the inclining motion toward the downwindside.
 3. The method of controlling a floating-body wind turbine powergenerating apparatus according to claim 1, wherein, in the pitch-angledecreasing step, a change rate of the pitch angle of the blade in atotal period during which the wind turbine generator has an inclinedattitude toward the upwind side, is larger than a change rate of thepitch angle of the blade in a total period during which the wind turbinegenerator has an inclined attitude toward the downwind side.
 4. Themethod of controlling a floating-body wind turbine power generatingapparatus according to claim 1, wherein, in the pitch-angle decreasingstep, the change rate of the pitch angle is monotonically decreased fromthe third change rate to the fourth change rate upon transition from thethird period to the fourth period, and the change rate of the pitchangle is monotonically increased from the fourth change rate to thethird change rate upon transition from the fourth period to the thirdperiod.
 5. A floating-body wind turbine power generating apparatuscomprising: a floating body; a wind turbine generator disposed on thefloating body, the wind turbine generator including a rotor in which ablade is mounted to a hub, and a pitch adjustment mechanism foradjusting a pitch angle of the blade; and a pitch control part forcontrolling the pitch adjustment mechanism so that a lift applied to theblade is increased by a decrease in the pitch angle when the windturbine generator is started, wherein the pitch control part isconfigured to control a third change rate of the pitch angle of theblade in a third period during which the wind turbine generator is in aninclining motion toward an upwind side from a vertical direction due tosway of the floating body to be larger than a fourth change rate of thepitch angle of the blade in a fourth period during which the windturbine generator is in an inclining motion toward a downwind side fromthe vertical direction due to the sway of the floating body.
 6. Acontrol device for the floating-body wind turbine power generatingapparatus according to claim 5, the control device comprising: a pitchcontrol part for controlling the pitch adjustment mechanism so that alift applied to the blade is increased by a decrease in the pitch anglewhen the wind turbine generator is started, wherein the pitch controlpart is configured to control a third change rate of the pitch angle ofthe blade in a third period during which the wind turbine generator isin an inclining motion toward an upwind side from a vertical directiondue to the sway of the floating body to be larger than a fourth changerate of the pitch angle of the blade in a fourth period during which thewind turbine generator is in an inclining motion toward a downwind sidefrom the vertical direction due to the sway of the floating body.
 7. Acontrol device for the floating-body wind turbine power generatingapparatus according to claim 6, wherein the pitch control part isconfigured to control the pitch adjustment mechanism so that anaerodynamic braking force is applied to the rotor by an increase in thepitch angle when the wind turbine generator is stopped, wherein thepitch control part is configured to control a first change rate of thepitch angle of the blade in a first period during which the wind turbinegenerator is in an inclining motion toward an upwind side from avertical direction due to the sway of the floating body to be smallerthan a second change rate of the pitch angle of the blade in a secondperiod during which the wind turbine generator is in an inclining motiontoward a downwind side from the vertical direction due to the sway ofthe floating body.